CN104015690A - System and method for detecting location of wireless device - Google Patents
System and method for detecting location of wireless device Download PDFInfo
- Publication number
- CN104015690A CN104015690A CN201410027416.2A CN201410027416A CN104015690A CN 104015690 A CN104015690 A CN 104015690A CN 201410027416 A CN201410027416 A CN 201410027416A CN 104015690 A CN104015690 A CN 104015690A
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- China
- Prior art keywords
- portable equipment
- final position
- wireless signal
- base station
- wireless device
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/24—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user
- B60R25/245—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user where the antenna reception area plays a role
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/24—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C2009/00753—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated by active electrical keys
- G07C2009/00769—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated by active electrical keys with data transmission performed by wireless means
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C2209/00—Indexing scheme relating to groups G07C9/00 - G07C9/38
- G07C2209/60—Indexing scheme relating to groups G07C9/00174 - G07C9/00944
- G07C2209/63—Comprising locating means for detecting the position of the data carrier, i.e. within the vehicle or within a certain distance from the vehicle
Abstract
The invention discloses a system and a method for detecting location of a wireless device. A vehicle system and method is provided for detecting the location of a portable wireless device. The vehicle system includes the portable device and a plurality of base stations positioned about a vehicle. The portable device is configured to transmit a first wireless signal and a second wireless signal indicative of motion data. A main base station of the plurality of base stations is configured to determine a first final position of the portable device in response to each of the plurality of base stations successfully receiving the first wireless signal. The main base station is further configured to determine a second final position of the portable device using the first final position and the motion data of the second wireless signal as received at the first base station and after determining that the second base station has not successfully received the second wireless signal. The system uses either a dead reckoning technique or an adaptive predictability estimation so as to predict where the portable device is located.
Description
The cross reference of related application
The application requires the preceence that is numbered 13/782,361 U.S. Patent application of submitting on March 1st, 2013, and the disclosure of this application by reference entirety is incorporated to.
Technical field
One or more embodiments relate to location positioning wireless device based on the former detection system and method about the current location of the vehicle.
Background technology
Publication number is that the people's such as 2010/0076622 Dickerhoof U.S. Patent Publication discloses the system of definite wireless device with respect to the position of the vehicle.Described system comprises and is arranged in the vehicle multiple antennas everywhere, for receiving wireless signal from wireless device.Described wireless signal is corresponding operates at least one in relevant order and state with the predetermined vehicle.Described system also comprises the controller that is operationally coupled to each antenna.Controller is configured to the eating dishes without rice or wine the transmission time of wireless signal of the one or more antennas based in multiple antennas, produces the position signal instruction of location of wireless devices, and the operation of the predetermined vehicle operation of position-based signal control.
Brief description of the drawings
Embodiments of the present invention are specifically noted in the appended claims.But the further feature of various embodiments will become clearer and be understood best by reference to the detailed description below in conjunction with accompanying drawing, wherein:
Fig. 1 shows the communication tool system for detection wireless device location according to an embodiment;
Fig. 2 shows according to the detailed maps of the wireless device of an embodiment, dominant base and assistant base station;
Fig. 3 shows the first distance, second distance and the 3rd distance apart from the vehicle according to the wireless device of an embodiment;
Fig. 4 shows the initial distance vector between wireless device and the vehicle that are oriented in initial position, and is oriented in the current distance vector between wireless device and the vehicle of current location;
Fig. 5 shows according to the method for the current location of definite wireless device of an embodiment; And
Fig. 6 shows according to the method for the current location of definite wireless device of another embodiment.
Detailed description of the invention
As required, in this open a detailed embodiment of the present invention; But, it should be understood that disclosed embodiment is only example of the present invention, it can be multiple and being implemented of optional form.Accompanying drawing does not need proportional; Some features can be exaggerated or dwindle to show the details of concrete parts.Therefore, the details of specific 26S Proteasome Structure and Function disclosed herein can not be considered as restriction, and is only to use in many ways representative basis of the present invention as instruction those skilled in the art.
Embodiments of the present invention generally provide multiple circuit and other electrical equipment.To all these circuit and other electrical equipment, and the quoting of each function providing wherein, can not be regarded as being limited in the content that is only included in this explanation and description.Although concrete mark can be assigned to disclosed various circuit and other electrical equipment, these marks are not intended to limit the opereating specification of these circuit and other electrical equipment.The particular type that these circuit and other electrical equipment can be realized based on the electrical equipment of expecting, mutually combines by any way and/or cuts apart.Will be appreciated that any circuit disclosed herein and other electrical equipment (for example can comprise any amount of microprocessor, integrated circuit, storage equipment, FLASH, RAM, ROM, EPROM, EEPROM, or its other suitable variant) and software, they interact to carry out any amount of operation as disclosed herein.
With reference to figure 1, show the communication tool system of determining location of wireless devices according to one or more embodiments, and totally represent by numeral 10.Communication tool system 10 comprises wireless device 12 and comprises dominant base 14 and at least two assistant base station 16a-16n(" 16 ") at least three nodes.Communication tool system 10 detection wireless equipment 12 are with respect to the position of the vehicle 18.For example, dominant base 14 and each assistant base station 16 comprise that sending/receiving wirelessly sends to/be received from the transmitter/receiver (" transceiver ") of the signal of wireless device 12.In the time that the communication between wireless device 12 and node 14,16 is interrupted at least partly, communication tool system 10 was determined the current location of wireless device 12 based on former definite initial position.
Communication tool system 10 use boat position supposition technology or self adaptation predictability estimate to determine current location.Dead reckoning (dead reckoning) is by the position calculation current location with in the past definite and the process based on the estimating speed on time of run and route being predicted to this position.Self adaptation predictability is estimated to refer to and is used known data (for example speed of wireless device 12, acceleration/accel, orientation, initial position and current location) to analyze the process that current location data is correct possibility.This information can be used to current location filtering, skew, refuse or ignore.
Wireless device 12 can be implemented as Intelligent key or for obtaining other suitable equipment of the vehicle 18 accesses.
Dominant base 14 generally comprises other circuit and carrys out the locking and unlocking vehicle 18 with the command signal providing in response to wireless device 12.Communication tool system 10 is carried out passive type and is entered passive type and start (PEPS) function, wherein dominant base 14 when determining near the respective regions 20a-20n (" 20 ") of wireless device 12 being positioned at the vehicle, the release vehicle 18.For example, the front driver side of graphic embodiment explanation region 20a, vehicle front area 20b, front passenger lateral areas territory 20c, rear passenger side region 20d, vehicle Background Region 20e and rear driver side region 20f.The general corresponding vehicle 18 in region 20 predetermined authorized location around (for example, the vehicle 18 inside and outside), if so that while detecting within such region 20 one of wireless device 12, dominant base 14 can be detected the vehicle (or door) in residing region 20 by the close wherein wireless device 12 of automatic unlocking so, and makes user can start the vehicle.
According to one or more embodiments, communication tool system 10, except using PEPS function, also uses remote keyless operation.For example, when in the time that authorized region 20 is interior, wireless device 12 sends the order instruction of desired operation, and in this case, dominant base 14 can for example, to the operation of the vehicle 18 carry out desired (, locking, release, overhead door release, remote activation etc.).
Dominant base 14, assistant base station 16 and wireless device 12 are carried out a series of signal exchange mutually, and use the embodiment of eat dishes without rice or wine the transmission time (TOF) to determine the distance of wireless device 12 apart from the vehicle 18.Therefore, dominant base 14 and assistant base station 16 use the residing actual area 20 of trilateration location of wireless devices 12.The use of trilateration make dominant base 14 have residing in location of wireless devices 12 horizontal directions, apart from the ability of the position of the vehicle.For example, together with this information (, wireless device 12 is in which region 20) range information definite with using TOF, make dominant base 14 with the precision location of wireless devices 12 of the rank that increases the position with respect to the vehicle 18.Contrast therein may be only in multiple side arrangement of the vehicle legacy system repeater, that there is lower accuracy, communication tool system 10 can be arranged as accurately to be determined near the vehicle 18 or the position of its inner wireless device 12.In other embodiments, dominant base 14, assistant base station 16 and the time of advent of wireless device 12 based on one or more wireless signals, determine the distance of wireless device 12 apart from the vehicle 18.
For example, dominant base 14 can determine that wireless device 12 is positioned at the distance apart from 18 3 meters, the vehicle, and wireless device 12 is positioned at driver side region 20a.Although illustrated that the position of wireless device 12 can be definite via TOF and trilateration, will be appreciated that, the aspect about location of wireless devices 12 of explanation can be used in other vehicle function such as but not limited to monitoring tire pressure here.In the time using TOF, should be realized that dominant base 14 and assistant base station 16 can be disposed in the predetermined position in the vehicle 18, send to and be received from the signal of wireless device 12 in order to sending and receiving.In one or more embodiments, node 14,16 is positioned in vehicle top (as shown in Figure 1), and is orientated three-legged structure (as shown in Figure 3) roughly.
Fig. 2 shows according to the detailed maps of the wireless device 12 of one or more embodiments, dominant base 14 and assistant base station 16.Wireless device 12 comprises microcontroller 30, transmitter/receiver (" transceiver ") 32 and at least one antenna 34.Microcontroller 30 is operationally coupled to transceiver 32 and antenna 34, sends to/be received from the signal of dominant base 14 and assistant base station 16 in order to sending and receiving.Radio frequency (RF) switch 35 is operationally coupled to antenna 34 in order to be coupled to transceiver 32.The embodiment of multiple antennas 34 can provide antenna diversity, and it contributes to solve radio frequency multi-path problem.The use of RF switch 35 and multiple antennas is optional.For example, individual antenna 34 can be used for sending and receiving and sends to and be received from the signal of wireless device 12.
Chargeable battery 36 powers to microcontroller 30 and transceiver 32.Battery charger circuit 40 receives electric power from charger connector 42, and charger connector is operationally coupled to external power supply (not shown).The adjustable input electric power from external power supply of battery charger circuit 40, to guarantee that it is applicable to being stored on chargeable battery 36.Will be appreciated that, battery charger circuit 40 and battery 36 can be wirelessly for example, receive electric power with to its charging from external device (, induced charge charging).
Battery charger 40 can charge and/or the state of the charging of battery 36 to microcontroller 30 pilot cells 36.The first luminous indicator 44 is arranged near of charger connector 42, and is operationally coupled to microcontroller 30, so that the charge condition of battery 36 to be provided to user.Vibrating motor 46 is operationally coupled to microcontroller 30, and is arranged to provide tactile feedback to user.
Accelerometer 47 is operationally coupled to microcontroller 30, with the movement of detection wireless equipment 12.Accelerometer 47 is configured to provide the output of the acceleration/accel of instruction wireless device 12 on three axles (x, y, z).For example, accelerometer 47 can provide the longitudinal acceleration (A of instruction wireless device 12
x), transverse acceleration (A
y) and normal acceleration (A
z) output.Other embodiment of wireless device 12 comprises twin-axis accelerometer 47.In one or more embodiments, accelerometer 47 is inertial equipments, such as inertia micro-electromechanical system (MEMs) sensor.Wireless device 12 can be arranged in response to exporting (A based on accelerometer
x, A
yand A
z) determine that it is mobile to start data transmission.This method helps battery 36 to save electric power.
According to one or more embodiments, wireless device 12 also comprises the movement of gyroscope 48 in order to detection wireless equipment 12.Gyroscope 48 is operationally coupled to microcontroller 30, and be configured to provide instruction wireless device 12 yaw rate (Ψ), pitch rate (θ) and roll rate (
) bearing data, as shown in Figure 1.Pitch rate (θ) representative is about the cireular frequency of longitudinal axis change (x).Roll rate (
) represent the cireular frequency about the change of transverse axis (y), and yaw rate (Ψ) representative is about the cireular frequency of the change of vertical axis (z).Gyro data is used for eliminating gravity effect and directed wireless device 12.In one or more embodiments, gyroscope 48 is the MEMs equipment such as inertia MEMs sensor.
Piezo-electric acoustic generator 49 is also operationally coupled to microcontroller 30, and the feedback providing based on sound is provided.The second luminous indicator 50 is operationally coupled in microcontroller 30, and is arranged to visual feedback is provided.Multiple switches 52 are positioned on wireless device 12, in order to send a command to the vehicle 18, for example, to start multiple vehicle operations (, door locked and release, overhead door release, remote activation etc.).
Transceiver 32 is generally configured to run in 3-10GHz frequency, and communication in the ultra broadband of 500MHz bandwidth (UWB) at least.This high-frequency communication in UWB bandwidth makes communication tool system 10 in higher precision, determine the distance of wireless device 12 with respect to the vehicle.Transceiver 32 generally comprises oscillator 54 and phaselocked loop (PLL) 56, for making transceiver 32 operate in 3-10GHz frequency.
Microcontroller 30 is operationally coupled to transceiver 32 and antenna 34, to send wireless signal 58 to dominant base 14 and assistant base station 16.Wireless signal 58 comprises acceleration information (A
x, A
yand A
z).According to one or more embodiments, wireless signal 58 also comprise gyro data (Ψ, θ and
).
Dominant base 14 generally comprises microcontroller 60, transceiver 62 and at least one antenna 64.Power supply 65 in the vehicle 18 powers to microcontroller 60 and transceiver 62.RF switch 66 is operationally coupled to microcontroller 60 and antenna 64.RF switch 66 is operationally coupled to antenna 64 to be coupled to transceiver 62.The embodiment of many antennas 64 can provide antenna diversity, and it helps to solve the problem about RF multipath.Also consider individual antenna 64 can be used to sending and receiving send to and be received from wireless device 12 signal and without RF switch 66.Microcontroller 60 is operationally coupled to transceiver 62 and antenna 64, sends to/be received from the signal (for example, wireless signal 58) of wireless device 12 and the signal of assistant base station 16 with sending and receiving.Microcontroller 60 is determined the position of wireless device 12 based on these signals.Dominant base 14 also comprises the circuit of door for carrying out the vehicle and/or the locking and unlocking of overhead door/boot and carries out the circuit of remote activation.
Transceiver 62 is generally also configured to run in 3-10GHz frequency, and communication in 500MHz ultra broadband (UWB) bandwidth at least.In 3-10GHz operating frequency and UWB bandwidth, move transceiver 62, make dominant base 14 in the time that it is communicated by letter with wireless device 12, in pinpoint accuracy more, determine the distance of wireless device 12 with respect to the vehicle.Transceiver 62 generally comprises oscillator 74 and PLL76, for making transceiver 62 operate in the frequency between 3-10GHz.
Assistant base station 16 generally comprises microcontroller 80, transceiver 82 and at least one antenna 84.RF switch 86 is operationally coupled to microcontroller 80 and antenna 84.Because above-mentioned reason, it is optional implementing RF switch 86 and many antennas 84.Microcontroller 80 is operationally coupled to transceiver 82 and antenna 84, sends to/be received from the signal (for example, wireless signal 58) of wireless device 12 and dominant base 14 with sending and receiving.Power supply 65 in the vehicle 18 powers to microcontroller 80 and transceiver 82.
Transceiver 82 is also generally configured to run in the frequency between 3-10GHz, and communication in 500MHz ultra broadband (UWB) bandwidth at least.At 3-10GHz operating frequency operation transceiver 82, make communication tool system 10 in the time that it is communicated by letter with wireless device 12, in pinpoint accuracy more, definite wireless device 12 is with respect to the distance of the vehicle.Transceiver 82 generally comprises oscillator 94 and PLL96, for making transceiver 82 operate in the frequency between 3-10GHz.Will be recognized that the second assistant base station 16n(is as shown in Figure 1) be similar to above-described assistant base station 16, and comprise similar parts and similar function is provided.
Each assistant base station 16 receives wireless signal 58 from wireless device 12, and sends message 98 to dominant base 14, and message 98 comprises instruction wireless signal eat dishes without rice or wine transmission time and acceleration information (A
x, A
yand A
z) information.According to one or more embodiments, message 98 also comprise gyro data (Ψ, θ and
).Dominant base 14 also receives wireless signal 58, and produces message (not shown), and this message comprises the eat dishes without rice or wine information of transmission time and acceleration/accel and gyro data of instruction wireless signal 58.
Each being arranged at least in wireless device 12, dominant base 14 and assistant base station 16 transmits and receive data in 500MHz bandwidth, and this aspect may cause the large current draw on these equipment.For example, by operating in UWB bandwidth range, this situation produces large frequency spectrum (for example, simultaneously having low frequency and high frequency) and high time resolution, and it has increased the particularity of range finding.Because dominant base 14 and assistant base station 16 are powered by the power supply 65 in the vehicle, power consumption may not be subject matter for these equipment.But because wireless device 12 is portable equipments, power consumption is but its subject matter.Usually, portable equipment is equipped with independent battery.At independent battery, with realizing together with the wireless device 12 of sending/receiving data in UWB bandwidth range, battery may be exhausted very soon.Under the circumstances, wireless device 12 comprises chargeable battery 36 and battery charger circuit 40, and charger connector 42(or wireless embodiment), battery 36 can be charged as required, the relevant electricity needs when supporting together to use with the sending/receiving information in UWB bandwidth range.
Usually, the frequency of transceiver 32,62 and 82 operations is higher, and the bandwidth of the information of these transceivers 32,62 and 82 energy sending and receivings is larger.Large like this bandwidth (namely, in UWB bandwidth) can improve noise immunity and improve signal transmission.Because UWB bandwidth allows more failure-free signal transmission, this also can improve particularity in the time determining the distance of wireless device 12.As mentioned above, the running frequency of 3-10GHz can transmit and receive data transceiver 32,62 and 82 within the scope of UWB.Use for the UWB bandwidth of wireless device 12, dominant base 14 and assistant base station 16 can provide: (i) the penetrance (for example, improving noise immunity) for the treatment of the obstacle that received transmitted signal passes through; (ii) high range finding (or location) particularity; (iii) high-speed data communication; And (iv) embodiment cheaply.Because multiple frequency contents of UWB spectrum, for example, than the data (, the transmission of the carrier frequency based at 315MHz etc.) of utilizing existing arrowband embodiment to send, the data of transmission can be received more reliably by wireless device 12, dominant base 14 and assistant base station 16.For example, based on the signal of UWB, because it has multiple frequency contents, the reflectance characteristics that can simultaneously have and transmissison characteristic.Some frequency contents can send through various objects, and some other can be reflected well by object.These situations can increase the cumulative reliability of the data receiver of wireless device 12, dominant base 14 and assistant base station 16.Further, the transmission in UWB spectrum can provide the wireless performance of the robust of anti-obstruction.This also can provide the countermeasures of anti-relay attack, and suitable Measurement Resolution wherein, for example, and the resolution of several centimetres.In wireless device 12, dominant base 14 and assistant base station 16, implement UWB and be generally suitable for TOF application.
With reference to figure 3, communication tool system 10 uses TOF to determine the distance between wireless device 12 and each node (dominant base 14 and assistant base station 16).Communication tool system 10 uses subsequently trilateration to determine that wireless device 12 is current and is positioned at which region 20(as shown in Figure 1).These methods are published in the people's such as Ghabra U.S. Patent application 13/675642, and its disclosure by reference entirety is incorporated to.
Each node 14,16 receives wireless signal 58 from wireless device 12, and produces the message of the information in the transmission time of eating dishes without rice or wine with instruction wireless signal 58.Dominant base 14 receives from each node 14,16 the transmission time information of eating dishes without rice or wine, and carries out TOF measurement to determine the 3rd distance (D3) between second distance (D2), wireless device 12 and the second assistant base station 16n between the distance of first between wireless device 12 and dominant base 14 (D1), wireless device 12 and the first assistant base station 16a.At least need three range readings, thereby carry out the trilateration that uses these three range readings, to determine the residing region 20 of wireless device 12.Also can consider that wireless device 12 use TOF result of a measurement provide himself distance with respect to the vehicle 18 with dominant base 14 and assistant base station 16.
Communication tool system 10 service ranges (D1, D2, D3) and region 20 information are determined the current location of wireless device 12.But if the communication disruption between at least one in wireless device 12 and node 14,16 or part are interrupted, communication tool system 10 use dead reckonings and self adaptation predictability are estimated the current location of wireless device 12 so.
Once communication is interrupted, communication tool system 10 is based on initial distance vector, and the information that provides of accelerometer and gyroscope (as shown in Figure 2) is determined the current location of wireless device 12.Such initial distance vector uses TOF technology and the trilateration technique described in conjunction with Fig. 3, and uses the information of communication disruption prerequisite confession to determine.
With reference to figure 4, for example, distance (D between the wireless device 12 when communication tool system 10 is oriented in initial position and the predetermined position of the vehicle 18 (, Fig. 4 mid point O)
i) and the corresponding initial distance vector of angle (α) (
).Initial distance vector (
) distance (D1, D2, D3) based between wireless device 12 and node 14,16, and the residing region 20 of wireless device 12.Initial distance vector (
) amplitude or distance (D
i) can use equation as follows 1 to calculate:
For example, angle (α) between the predetermined position (, some O) of wireless device 12 and the vehicle 18 can be used the trigonometric equation based on wireless device 12 regions of living in to calculate.
In the time that wireless device 12 is oriented in current location, communication tool system 10 is also determined for example, distance (D between the predetermined position (, some O) of wireless device 12 and the vehicle 18
p) and the corresponding current distance vector of angle (β) (
).Current distance vector (
) definite being discussed in more detail below.
With reference to figure 5, show according to one or more embodiments, the method for the current location of wireless device is determined in the position with dead reckoning based on detecting in the past, and the method represents by numeral 110 generally.According to one or more embodiments, use the software code in the microcontroller 30,60,80 that is included in communication tool system 10 to implement the method.
In operation 112, communication tool system 10 determines whether the communication between wireless device and vehicle node 14,16 is established.Repeat 112 until communication be established.In operation 114, each node 14,16 receives from wireless device 12 information that comprises acceleration/accel and gyro data.Each node 14,16 produces the message of the information of the data, acceleration information and the gyro data that comprise the transmission time of eating dishes without rice or wine of indicating wireless signal 58 subsequently.In operation 116, dominant base 14 determines that the whole vehicle nodes that whether have been included himself from the data of wireless device 12 receive.If operation 116 judge whether fixed, the part communication disruption between instruction wireless device 12 and node 14,16, communication tool system 10 returns to operation 112 subsequently.
If be sure (that is, all nodes 14,16 receive radio equipment data) in operation 116 judgement, communication tool system 10 advances to operation 118 so, and in the vehicle space location of wireless devices 12.Location of wireless devices 12 comprises use TOF and trilateration calculating distance (D1, D2, D3) and the residing region 20 of definite wireless device 12, and subsequently based on distance and area information, calculates first final position of wireless device 12, such as initial position (D
i).
In operation 120, communication tool system 10 determines that all nodes that whether are included himself from the data of wireless device 12 receive again.If the judgement in operation 120 is sure (all nodes 14,16 all receives radio equipment data), communication tool system 10 advances to operation 122 and 124 so, uses TOF and trilateration to calculate the current location (D of wireless device 12
p).
If operation 120 judge whether fixed, communication tool system 10 advance to operation 126.In operation 126, communication tool system 10 determines whether received by least one vehicle node 14,16 from the data of wireless device 12.If receive this data, communication tool system advances to operation 128, and uses dead reckoning to estimate second final position of wireless device 12, such as current location (D
p).
As the initial step of dead reckoning, communication tool system 10 uses gyro data to eliminate the gravity effect being present in acceleration information.In addition, accelerometer 47 and gyroscope 48 with respect to the vehicle 18 working direction (heading) orientation about wireless device 12.As operating 130 illustratedly, in the iteration each time of determining in current location, because orientation is the source of absolute data, this orientation is reinitialized.
Since gravity effect, acceleration information (A
x, A
yand A
z) be devious.Therefore communication tool system uses gyroscope information compensation acceleration information.As described with reference to figure 1 and Fig. 2 above, pitch rate (θ) represents and the angular deflection (x) of longitudinal axis direction.Roll rate (
) represent and the angular deflection of lateral shaft direction (y), row rate (Ψ) represents and the angular deflection of vertical axis (z) direction partially.Therefore, communication tool system uses corresponding gyro data filtered acceleration data.For example, communication tool system 10 uses pitch angle (θ) to filter longitudinal acceleration (A
x).Similarly, transverse acceleration (A
y) use angle of roll (
) filter, and normal acceleration (A
z) use row rate (Ψ) partially to filter.Directed wireless device 12 allows data normalization to go back to static vehicle initial position (for example, R point O) and only in the plane (x, y, z) of expecting, analyzes acceleration information.
Normalized data are processed subsequently, by integration to x and y axle acceleration and quadratic integral, to determine the working direction and the displacement (d1 that are for example oriented in, with the wireless device 12 between wireless device 12 and the current location of front position (, initial position), d2, d3).Communication tool system carries out integration by the accekeration to after corresponding filtration, calculates the speed (V of wireless device in each direction (x, y, z)
x, V
yand V
z).For example, longitudinal velocity (V
x) by the longitudinal acceleration (A after filtering about time integral
x_filt) calculate.Similarly, cross velocity (V
y) transverse acceleration (A after filtering by integration
y_filt) calculate, and vertical speed (V
z) normal acceleration (A after filtering by integration
z_filt) calculate.
Communication tool system, by corresponding filtered accekeration is carried out to quadratic integral, calculates the displacement (d of wireless device 12 in each direction (x, y, z)
x, d
yand d
z).For example, longitudinal travel (d
x) by the longitudinal acceleration (A after filtering
x_filt) carry out quadratic integral about the time and can be calculated.Similarly, cross travel (d
y) by the transverse acceleration (A after filtering
y_filt) carry out quadratic integral and calculated, and vertical displacement (d
z) by the normal acceleration (A after filtering
z_filt) carry out quadratic integral and calculated.
Communication tool system uses Kalman filtering, based on shift value (d
x, d
yand d
z) estimate wireless device current distance vector (
) and working direction.Kalman filtering is a kind of algorithm, and the noisy input traffic of operation of its recurrence, to provide the statistics best guess of state of the system of bottom.Substantially, Kalman filtering is a kind of algorithm, and it uses a series of that observe along with the time and comprise the result of a measurement of change variable (noise), and provides than the more accurate estimated valve to known variables of independent measurement result.Based on the input and output of measuring, Kalman filtering can be counted as estimating the method for " black box " state.According to one or more embodiments, Kalman filtering is used the software code in the microcontroller 60 that is included in dominant base 14 to implement.
Kalman filtering algorithm uses the two step process estimated states that comprise time renewal prediction steps and result of a measurement step of updating.In prediction steps, the estimated valve that Kalman filtering provides current state variable with and uncertain.Result of a measurement step of updating is feedback control.Once Kalman filtering is observed next result of a measurement, use weighted average to upgrade and estimate, wherein, give larger weight to thering is higher deterministic estimation.Calculate weight according to covariance, it comprises measures noise covariance (R) and processes noise covariance (Q).Covariance is the tolerance of probabilistic estimation of prognoses system state.
Measurement noise covariance (R) defines and how much has been used from the information of current result of a measurement.High R value instruction result of a measurement is not very accurate.If R is high, Kalman filtering will be used less weight to current result of a measurement.If R is low, Kalman filtering will be followed result of a measurement more nearly so.The covariance (Q) of processing noise has also greatly affected Kalman filtering.Use high Q value, Kalman filtering is followed the trail of large change more closely.But, to estimate to be allowed to a time step more when " movement ", estimation has become more noises.
In each time step, Kalman filtering process is repeated, and new estimation here and its covariance have been notified and used in the prediction of iteration subsequently.Kalman filtering is a recursive estimator.This means and only have the estimation that is used to calculate current state from estimation state and the current result of a measurement of previous time step.Wireless device 12 can be with working direction, speed and the potential current location (D being placed on displacement in vehicle space with respect to its speed afterwards
p).After operation 124, communication tool system returns to operation 120.
Gyroscope 48 is optional equipments of communication tool system 10.The information that gyroscope 48 provides is for being used dead reckoning that the location positioning of more accurate wireless device is provided.But, not very strict application for the requirement of the location positioning of wireless device 12, the optional embodiment of communication tool system 10 does not provide gyroscope 48.
Fig. 6 shows the self adaptation predictability using based on accelerometer data and estimates, and determines the method 210 of the current location of wireless device without any gyro data.Except determining the current location (D of wireless device
p), the method 110 that the method 210 of Fig. 6 is described similar in appearance to Fig. 5.
In operation 212, communication tool system 10 determines whether the communication between wireless device and vehicle node 14,16 is established.Repeat 212 until communication be established.In operation 214, each node 14,16 receives from wireless device 12 data that comprise acceleration information.Each node 14,16 produces the message of eat dishes without rice or wine transmission time and the acceleration information of instruction wireless signal 58 subsequently.In operation 216, dominant base 14 determines that all nodes that whether are included himself from the data of wireless device 12 receive.If operation 216 judge whether fixed, the communication disruption of the part between instruction wireless device 12 and node 14,16, communication tool system 10 returns to operation 212 afterwards.If the judgement in operation 216 is sure, (all nodes 14,16 have received radio equipment data), communication tool system 10 advances to operation 218 so, and the first final position that uses TOF and trilateration to calculate wireless device 12, such as initial position (D
i).
In operation 220, communication tool system 10 determines that all nodes that whether are included himself from the data of wireless device 12 receive again.If the judgement in operation 220 is sure (all nodes 14,16 has received radio equipment data), communication tool system 10 advances to operation 222 and 224 so, uses TOF and trilateration to calculate the current location (D of wireless device 12
p).
If operation 220 judge whether fixed, communication tool system 10 advance to operation 226.In operation 226, communication tool system 10 determines from the data of wireless device 12 whether received by least one vehicle node 14,16, and former definite initial position (D
i) and former definite present position (D
pp) whether available.If the judgement in operation 226 is sure, communication tool system advances to operation 228 so, and uses Kalman filtering and self adaptation Analysis on Predictability, the second final position of prediction wireless device 12.
Operation 228, communication tool system 10 based on along with time lapse, initial position (D
i) and previous current location (D
pp) between difference, calculate the speed of wireless device 12.Communication tool system then relatively the distance vector relevant with each position (
) and (
), to estimate the working direction of wireless device 12.Communication tool system then comes weighting speed, working direction together with acceleration information by Kalman filtering, to determine that wireless device is at each direction (d
x, d
yand d
z) displacement.
Communication tool system 10 uses self adaptation predictability to estimate subsequently, is correct possibility to analyze displacement based on accelerometer data.This information can be used to displacement data filtration, skew, refuse or ignore.For example, if Kalman filter instruction wireless device 12 has moved, but accelerometer indicates it not mobile, and self adaptation predictability process can be partial to system less movement or not mobile so.
Wireless device 12 can be placed on the second final position in vehicle space subsequently, such as with working direction, speed with respect to the current location (D of the potential displacement of its speed
p).After operation 224, communication tool system returns to operation 220.
And, if any time during method 210, acceleration information value (A
x, A
yand A
z) at least one null time be longer than threshold time section (for example, 10 seconds), communication tool system determines that wireless device 12 has stopped so, and returns to operation 212 and need not determine current location.
Although as above described illustrative embodiments, and do not meant that these embodiments have described likely form of the present invention.But the word in specification sheets is descriptive and nonrestrictive, and is appreciated that in the situation that not deviating from the spirit and scope of the present invention and can makes multiple change.In addition, the feature of various effective embodiments can be combined to form other embodiment of the present invention.
Claims (20)
1. a communication tool system, comprising:
Portable equipment, is configured to send the first wireless signal; And
Multiple base stations, are positioned at the vehicle everywhere, and each base station is configured to receive described the first wireless signal, and the dominant base of wherein said multiple base stations is configured to:
Successfully receive described the first wireless signal in response to each in described multiple base stations, determine the first final position;
Determine behind described the first final position, the reception of the each place of monitor subsequent in described multiple base stations to the second wireless signal, described the second wireless signal is indicated the exercise data of described portable equipment;
Determine that the first base station has received described the second wireless signal;
Determine that the second base station does not successfully receive described the second wireless signal; And
Successfully do not receive after described the second wireless signal in definite described the second wireless base station, use described the first final position and the exercise data of described the second wireless signal of receiving in described the first base station, determine the second final position of described portable equipment.
2. communication tool system according to claim 1, each being configured in response to successfully receiving described the first wireless signal in wherein said multiple base stations, produces eat dishes without rice or wine first message in transmission time of described the first wireless signal of instruction.
3. communication tool system according to claim 2, wherein said dominant base is also configured to:
Described the first message producing based on corresponding base station, calculates the distance between each in described portable equipment and described multiple base station;
Based on described distance, determine the residing region with respect to the described vehicle of described portable equipment; And
Based on described distance and described region, calculate described portable equipment with respect to described the first final position with reference to vehicle position.
4. communication tool system according to claim 1, wherein said exercise data also comprises acceleration information and directional data, wherein said portable equipment also comprises:
Accelerometer, is configured to provide described acceleration information; And
Gyroscope, is configured to provide described directional data.
5. communication tool system according to claim 4, wherein said dominant base is also configured to:
After definite described the second base station does not successfully receive described the second wireless signal, use described directional data to filter described acceleration information, and produce the acceleration information after filtering;
An integration of the acceleration information based on to after described filtration, calculates the speed of described portable equipment;
The quadratic integral of the acceleration information based on to after described filtration, calculates the displacement of described portable equipment from described the first final position; And
Described speed based on described portable equipment and described displacement, determine described second final position of described portable equipment.
6. communication tool system according to claim 4, wherein said dominant base is also configured to:
Based at least one in described acceleration information, described directional data and described the first final position, use Kalman Filter Estimation to indicate the state of described second final position of described portable equipment.
7. communication tool system according to claim 1, wherein said dominant base is also configured to:
Based on described the first final position and the speed of described portable equipment, determine described second final position of described portable equipment, the acceleration/accel of the described speed dependent of described portable equipment after the filtration of described portable equipment.
8. communication tool system according to claim 1, wherein said dominant base is also configured to:
Eating dishes without rice or wine the transmission time of described the first wireless signal based between each in described portable equipment and described multiple base station, calculates described portable equipment with respect to described the first final position with reference to vehicle position; And
Based on described exercise data and described the first final position, estimate the state of described second final position of indicating described portable equipment by Kalman filtering.
9. communication tool system according to claim 8, wherein said dominant base is also configured to:
Based on the difference along with between the first final position time lapse, described and described the second final position, calculate the speed of described portable equipment;
Based on described speed, estimate displacement described portable equipment, between described the first final position and described the second final position; And
Based on the 3rd final position of portable equipment described in described Displacement Estimation.
10. a device, comprising:
Multiple base stations, are positioned at the vehicle everywhere, and each base station is configured to receive the first wireless signal from portable wireless apparatus, and the dominant base of wherein said multiple base stations is configured to:
Successfully receive described the first wireless signal in response to each in described multiple base stations, determine the first final position;
Determine behind described the first final position, the reception of the each place of monitor subsequent in described multiple base stations to the second wireless signal, described the second wireless signal is indicated acceleration information and the directional data of described portable equipment;
Determine that the first base station has received described the second wireless signal;
Determine that the second base station does not successfully receive described the second wireless signal; And
Successfully do not receive after described the second wireless signal in definite described the second wireless base station, described acceleration information and the described directional data of described the second wireless signal that uses described the first final position and receive in described the first place, base station, determine the second final position of described portable equipment.
11. devices according to claim 10, wherein said dominant base is also configured to:
After definite described the second base station does not successfully receive described the second wireless signal, use described directional data to filter described acceleration information, and produce the acceleration information after filtering; And
Acceleration information after filtration based on described portable equipment, determines the second final position of described portable equipment.
12. devices according to claim 11, wherein said dominant base is also configured to:
An integration of the acceleration information based on to after described filtration, calculates the speed of described portable equipment;
The quadratic integral of the acceleration information based on to after described filtration, calculates the displacement of described portable equipment from described the first final position; And
Described speed based on described portable equipment and described displacement, determine the second final position of described portable equipment.
13. devices according to claim 10, each being configured in response to successfully receiving described the first wireless signal in wherein said multiple base stations, produces first message in the transmission time of eating dishes without rice or wine of described the first wireless signal of instruction.
14. devices according to claim 13, wherein said dominant base is also configured to:
Described the first message producing based on corresponding base station, calculates the distance between each in described portable equipment and described multiple base station;
Based on described distance, determine the residing region with respect to the described vehicle of described portable equipment; And
Based on described distance and described region, calculate described portable equipment with respect to the first final position with reference to vehicle position.
15. devices according to claim 14, wherein said dominant base is also configured to:
Based on described second final position of described portable equipment, control being positioned at the release near the vehicle door in described region.
Survey the method for portable equipment position for 16. 1 kinds, described method comprises:
Send the first wireless signal to multiple base stations;
Successfully receive described the first wireless signal in response to each in described multiple base stations, determine the first final position;
Determine behind described the first final position, the reception of the each place of monitor subsequent in described multiple base stations to the second wireless signal, described the second wireless signal is indicated the exercise data of described portable equipment;
Determine that the first base station has received described the second wireless signal;
Determine that the second base station does not successfully receive described the second wireless signal; And
Successfully do not receive after described the second wireless signal in definite described the second wireless base station, use described the first final position and the exercise data of described the second wireless signal of receiving in described the first base station, determine the second final position of described portable equipment.
17. methods according to claim 16, wherein said exercise data also comprises at least one of acceleration information and directional data.
18. methods according to claim 17, also comprise:
Use described directional data to filter described acceleration information to eliminate gravity effect, and with respect to reference to the directed described portable equipment of vehicle position.
19. methods according to claim 18, also comprise:
Based on described acceleration information, described directional data and described the first final position, use Kalman filtering, estimate the state of the second final position of the described portable equipment of instruction.
20. methods according to claim 16, also comprise:
Based on the first final position and the speed of described portable equipment, determine the second final position of described portable equipment, the acceleration/accel of the described speed dependent of described portable equipment after the filtration of described portable equipment.
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| US13/782,361 | 2013-03-01 |
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| CN104015690B CN104015690B (en) | 2016-08-17 |
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| CN201410027416.2A Active CN104015690B (en) | 2013-03-01 | 2014-01-21 | The system and method for detection wireless device location |
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| CN (1) | CN104015690B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| GB2511377A (en) | 2014-09-03 |
| DE102013225600B4 (en) | 2018-05-30 |
| GB2511377B (en) | 2015-02-11 |
| GB201319359D0 (en) | 2013-12-18 |
| DE102013225600A1 (en) | 2014-09-04 |
| US9154920B2 (en) | 2015-10-06 |
| US20140248898A1 (en) | 2014-09-04 |
| CN104015690B (en) | 2016-08-17 |
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